update json schema of mrm_handler

tier4 · Jun 4, 2024 · a550193 · a550193
1 parent 9079986
commit a550193
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/system/mrm_handler/schema/mrm_handler.schema.json b/system/mrm_handler/schema/mrm_handler.schema.json
@@ -36,6 +36,11 @@
           "description": "If the duration of the EMERGENCY state is longer than `timeout_emergency_recovery`, it does not recover to the NORMAL state.",
           "default": 5.0
         },
+        "is_mrm_recoverable": {
+          "type": "boolean",
+          "description": "If this parameter is true, mrm state never return to normal state",
+          "default": false
+        },
         "use_parking_after_stopped": {
           "type": "boolean",
           "description": "If this parameter is true, it will publish PARKING shift command.",
@@ -46,6 +51,11 @@
           "description": "If this parameter is true, operate pull over when latent faults occur.",
           "default": "false"
         },
+        "use_pull_over_after_stopped": {
+          "type": "boolean",
+          "description": "If this parameter is true, pull over can be operated after stopped.",
+          "default": "true"
+        },
         "use_comfortable_stop": {
           "type": "boolean",
           "description": "If this parameter is true, operate comfortable stop when latent faults occur.",
@@ -70,8 +80,10 @@
         "timeout_cancel_mrm_behavior",
         "use_emergency_holding",
         "timeout_emergency_recovery",
+        "is_mrm_recoverable",
         "use_parking_after_stopped",
         "use_pull_over",
+        "use_pull_over_after_stopped",
         "use_comfortable_stop",
         "turning_hazard_on"
       ],